149 lines
4.5 KiB
Python
149 lines
4.5 KiB
Python
#!/usr/bin/env python
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'''
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search a set of log files for bad accel values
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'''
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from __future__ import print_function
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from builtins import input
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from builtins import range
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import sys, os
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import zipfile
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from pymavlink import mavutil
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# extra imports for pyinstaller
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import json
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from pymavlink.dialects.v10 import ardupilotmega
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search_dirs = ['c:\Program Files\APM Planner',
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'c:\Program Files\Mission Planner',
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'c:\Program Files (x86)\APM Planner',
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'c:\Program Files (x86)\Mission Planner']
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results = 'SearchResults.zip'
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email = 'Craig Elder <craig@3drobotics.com>'
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from argparse import ArgumentParser
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parser = ArgumentParser(description=__doc__)
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parser.add_argument("--directory", action='append', default=search_dirs, help="directories to search")
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parser.add_argument("--post-boot", action='store_true', help="post boot only")
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parser.add_argument("--init-only", action='store_true', help="init only")
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parser.add_argument("--single-axis", action='store_true', help="single axis only")
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args = parser.parse_args()
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logcount = 0
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def AccelSearch(filename):
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global logcount
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mlog = mavutil.mavlink_connection(filename)
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badcount = 0
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badval = None
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have_ok = False
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last_t = 0
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while True:
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m = mlog.recv_match(type=['PARAM_VALUE','RAW_IMU'])
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if m is None:
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if last_t != 0:
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logcount += 1
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return False
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if m.get_type() == 'PARAM_VALUE':
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if m.param_id.startswith('INS_PRODUCT_ID'):
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if m.param_value not in [0.0, 5.0]:
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return False
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if m.get_type() == 'RAW_IMU':
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if m.time_usec < last_t:
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have_ok = False
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last_t = m.time_usec
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if abs(m.xacc) >= 3000 and abs(m.yacc) > 3000 and abs(m.zacc) > 3000 and not args.single_axis:
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if args.post_boot and not have_ok:
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continue
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if args.init_only and have_ok:
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continue
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print(have_ok, last_t, m)
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break
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# also look for a single axis that stays nearly constant at a large value
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for axes in ['xacc', 'yacc', 'zacc']:
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value1 = getattr(m, axes)
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if abs(value1) > 2000:
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if badval is None:
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badcount = 1
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badval = m
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continue
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value2 = getattr(badval, axes)
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if abs(value1 - value2) < 30:
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badcount += 1
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badval = m
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if badcount > 5:
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logcount += 1
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if args.init_only and have_ok:
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continue
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print(have_ok, badcount, badval, m)
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return True
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else:
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badcount = 1
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badval = m
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if badcount == 0:
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have_ok = True
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if last_t != 0:
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logcount += 1
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return True
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found = []
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directories = args.directory
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# allow drag and drop
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if len(sys.argv) > 1:
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directories = sys.argv[1:]
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filelist = []
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for d in directories:
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if not os.path.exists(d):
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continue
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if os.path.isdir(d):
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print("Searching in %s" % d)
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for (root, dirs, files) in os.walk(d):
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for f in files:
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if not f.endswith('.tlog'):
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continue
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path = os.path.join(root, f)
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filelist.append(path)
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elif d.endswith('.tlog'):
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filelist.append(d)
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for i in range(len(filelist)):
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f = filelist[i]
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print("Checking %s ... [found=%u logcount=%u i=%u/%u]" % (f, len(found), logcount, i, len(filelist)))
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if AccelSearch(f):
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found.append(f)
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if len(found) == 0:
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print("No matching files found - all OK!")
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input('Press enter to close')
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sys.exit(0)
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print("Creating zip file %s" % results)
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try:
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zip = zipfile.ZipFile(results, 'w')
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except Exception:
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print("Unable to create zip file %s" % results)
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print("Please send matching files manually")
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for f in found:
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print('MATCHED: %s' % f)
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input('Press enter to close')
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sys.exit(1)
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for f in found:
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zip.write(f, arcname=os.path.basename(f))
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zip.close()
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print('==============================================')
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print("Created %s with %u of %u matching logs" % (results, len(found), logcount))
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print("Please send this file to %s" % email)
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print('==============================================')
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input('Press enter to close')
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sys.exit(0)
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